cmake_minimum_required(VERSION 3.8)
project(task_server_pkg)

if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
  add_compile_options(-Wall -Wextra -Wpedantic)
endif()

# find dependencies
find_package(ament_cmake REQUIRED)
# uncomment the following section in order to fill in
# further dependencies manually.
# find_package(<dependency> REQUIRED)
find_package(rclcpp REQUIRED)
find_package(nav2_util REQUIRED)

if(BUILD_TESTING)
  find_package(ament_lint_auto REQUIRED)
  # the following line skips the linter which checks for copyrights
  # comment the line when a copyright and license is added to all source files
  set(ament_cmake_copyright_FOUND TRUE)
  # the following line skips cpplint (only works in a git repo)
  # comment the line when this package is in a git repo and when
  # a copyright and license is added to all source files
  set(ament_cmake_cpplint_FOUND TRUE)
  ament_lint_auto_find_test_dependencies()
endif()
# 包含头文件目录
include_directories(include)

set(dependencies
  rclcpp
  nav2_util
)
###################### 添加可执行文件 ####################
add_executable(task_server
  src/main.cpp
  src/task_server.cpp
)

ament_target_dependencies(task_server
  ${dependencies}
)

# 安装
install(TARGETS task_server
  RUNTIME DESTINATION lib/${PROJECT_NAME}
)

install(
DIRECTORY
  launch
  params
  DESTINATION
  share/${PROJECT_NAME})
  
# 安装头文件到指定目录
install(DIRECTORY include/
  DESTINATION include/
)
ament_package()
